| 0,0 → 1,149 |
|---|
| /*****************************************************************************/ |
| /* |
| * Zmena I2C adresy |
| * |
| * Copyright (C) 2007 KAKL |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU General Public License as published by |
| * the Free Software Foundation; either version 2 of the License, or |
| * (at your option) any later version. |
| * |
| * This program is distributed in the hope that it will be useful, |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| * GNU General Public License for more details. |
| * |
| */ |
| /*****************************************************************************/ |
| |
| #include <iostream> |
| #include <getopt.h> |
| #include <errno.h> |
| #include <string.h> |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <unistd.h> |
| #include "linux/i2c-dev.h" |
| #include "linux/i2c.h" |
| #include <sys/ioctl.h> |
| #include <sys/types.h> |
| #include <sys/stat.h> |
| #include <fcntl.h> |
| |
| using namespace std; |
| |
| |
| #define BC_Addr 0x0B |
| #define US3_Addr 0x70 // 0xE0 in fact; Sonar na doprovod |
| #define CMPS_Addr 0x60 // 0xC0 |
| #define M1 0x50 // 0xA0 in fact |
| #define M2 0x51 // 0xA2 in fact |
| |
| |
| char vystup[50]; |
| pthread_t thread_1, thread_2, thread_3; |
| FILE *pRouraO,*pRouraI; |
| unsigned int vzdalenost; |
| char command,ble; |
| int param; |
| int file; |
| double nord, east; |
| int done; // vlajka, ze se neco udelalo |
| int last_cross; // posledni krizovatka |
| |
| |
| void I2C_addr (int Addr) |
| { |
| if (ioctl(file, I2C_SLAVE, Addr) == -1) |
| { |
| fprintf(stderr, "Failed to set address to 0x%02x.\n", Addr); |
| exit(-5); |
| } |
| } |
| |
| |
| unsigned int echo(int Addr) // precte vzdalenost z US cidla |
| { |
| char Buf[3]; |
| |
| I2C_addr(Addr); |
| Buf[0]=0x0; |
| Buf[1]=0x51; |
| write(file, Buf, 2); |
| usleep(80000); |
| read(file, Buf, 3); |
| return (Buf[1]*256+Buf[2]); |
| } |
| |
| unsigned char read_azimut_mag() // precte azimut z kompasu |
| { |
| char Buf[3]; // promena pro manipulaci s i2c |
| |
| I2C_addr(CMPS_Addr); |
| Buf[0]=1; |
| write(file,Buf,1); |
| read(file, Buf,1); |
| return Buf[0]; |
| } |
| |
| void calib() // kalibrace kompasu |
| { |
| char Buf[3]; // promena pro manipulaci s i2c |
| |
| I2C_addr(CMPS_Addr); |
| Buf[0]=15; |
| Buf[1]=0xFF; |
| write(file,Buf,2); |
| } |
| |
| int i2c_init() // zinicializuje i2c |
| { |
| file = open("/dev/i2c-0", O_RDWR); |
| if (file < 0) |
| { |
| cerr << "Could not open /dev/i2c-0." << endl; |
| return -1; |
| } |
| return 0; |
| } |
| |
| int main(int argc, char *argv[], char *envp[]) |
| { |
| unsigned int OldAddress, NewAddress; |
| char Buf[10]; |
| |
| fprintf(stdout, "\n **** Changing I2C Address **** \n \r"); |
| |
| i2c_init(); |
| |
| if ( argc < 3 ) |
| { |
| printf("Use:\n%s OldAddress NewAddress\n",argv[0]); |
| return 0; |
| } |
| |
| sscanf(argv[1],"%x",&OldAddress); |
| sscanf(argv[2],"%x",&NewAddress); |
| |
| printf("Old: %x New: %x\n", OldAddress, NewAddress); |
| |
| echo(OldAddress); |
| printf("Vzdalenost: %d\n", echo(NewAddress)); |
| |
| I2C_addr(OldAddress); |
| Buf[0]=0x0; |
| Buf[1]=0xA0; |
| Buf[2]=0xAA; |
| Buf[3]=0xA5; |
| Buf[4]=(unsigned char)NewAddress; |
| write(file, Buf, 5); |
| |
| usleep(100000); |
| |
| echo(NewAddress); |
| printf("Vzdalenost: %d\n", echo(NewAddress)); |
| |
| close(file); |
| return 0; |
| } |